From e3cac1999a0b4398e669f90cd28279ec2a0784a7 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 21 Sep 2014 18:04:11 +0200
Subject: [PATCH] navigator: geofence with global pos: reduce update rate

---
 src/modules/navigator/navigator_main.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 9a8c54e7e6..fc9120f137 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -386,9 +386,13 @@ Navigator::task_main()
 		/* global position updated */
 		if (fds[0].revents & POLLIN) {
 			global_position_update();
-			if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
+			static int gposcounter = 0;
+			if (_geofence.getSource() == Geofence::GF_SOURCE_GLOBALPOS &&
+					gposcounter % 10 == 0) {
+				/* Geofence is checked only every 10th gpos update */
 				have_geofence_position_data = true;
 			}
+			gposcounter++;
 		}
 
 		/* Check geofence violation */